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Strict Standards: Non-static method DB::isError() should not be called statically, assuming $this from incompatible context in /group/project/aicat/web/lib/database.php on line 34Catalogue of Artificial Intelligence Techniques

Kinematics

Analysis of the kinematics of mechanisms can provide a technique for
rational design of manipulators and workspaces. Mechanical
arrangements for robot manipulators vary widely among operational
robots, the most common configurations being best described in terms
of their coordinate features: Cartesian, spherical, and articulated.
In a Cartesian robot, a wrist is mounted on a rigid framework to
permit linear movement along three orthogonal axes, rather like a
gantry crane or (for two axes) a graph plotter; the resulting
workspace is box-shaped. The cylindrical robot has a horizontal arm
mounted on a vertical column which is fixed to a rotating base. The
arm moves in and out; a carriage moves the arm up and down along the
column, and these two components rotate as a single element on the
base; the workspace is a portion of a cylinder. The spherical robot
is similar to the turret of a tank: the arm moves in and out, pivots
vertically, and rotates horizontally about the base; the workspace is
a portion of a sphere. An articulated robot is more anthropomorphic:
an upper arm and forearm move in a vertical plane above a rotating
trunk. The limbs are connected by revolute joints; the workspace
approximates a portion of a sphere. For all robots, additional
degrees of freedom are provided at the extremity of the arm, at the
wrist. Wrists generally allow rotation in two or three orthogonal
planes. To make proper use of a robot arm, transformations between
encoded axis values (joint angles, etc.) and more convenient coordinate
systems must be computed at high speed. Transforming a set of axis
values to a position and orientation in space is called the forward
kinematics transformation. The reverse transformation is used to
convert a desired position and orientation in space into commanded
axis values.